Vehicular vision system with accelerated determination of an object of interest

ABSTRACT

A vehicular vision system includes a control disposed at a vehicle. A camera is disposed at an in-cabin side of the vehicle windshield and views forward of the vehicle. During a driving maneuver of the vehicle, the vehicular vision system, responsive at least in part to an output of a radar sensor, detects an object that is located within the radar sensor&#39;s field of sensing and outside of the camera&#39;s field of view and determines movement of the object relative to the vehicle. During the driving maneuver of the vehicle, information pertaining to movement of the detected object toward an area within the field of view of the camera is provided to the control. During the driving maneuver, and responsive to the provided information, and with the detected object present within the camera&#39;s field of view, the vehicular vision system determines that the detected object is an object of interest.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 16/833,749, filed Mar. 30, 2020, now U.S. Pat. No. 10,911,721,which is a continuation of U.S. patent application Ser. No. 13/848,796,filed Mar. 22, 2013, now U.S. Pat. No. 10,609,335, which claims thefiling benefit of U.S. provisional applications, Ser. No. 61/700,932,filed Sep. 14, 2012, and Ser. No. 61/614,880, filed Mar. 23, 2012, whichare hereby incorporated herein by reference in their entireties.

FIELD OF THE INVENTION

The present invention relates to imaging systems or vision systems forvehicles.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes one or more cameras to capture images exterior ofthe vehicle, and provides the communication/data signals, includingcamera data or image data, that may be displayed at a display screenthat is viewable by the driver of the vehicle, such as when the driveris backing up the vehicle, and/or that may be processed and, responsiveto such image processing, the system may detect an object at or near thevehicle and in the path of travel of the vehicle, such as when thevehicle is backing up or driving forward along a road. The system isoperable to detect objects or receive information about objects that areoutside of the field of view of the camera, such that, when the objector vehicle moves to within the field of view of the camera, the imageprocessor may more quickly detect and confirm detection of the object orvehicle in the imaged scene.

According to an aspect of the present invention, a vision system for avehicle includes a camera or image sensor disposed at a vehicle andhaving a field of view exterior of the vehicle (such as a forward fieldof view in the forward direction of travel of the vehicle), and aprocessor operable to process data captured by the camera. At least onedevice or sensor or element (such as, for example, a radar sensor and/oran element of a vehicle-to-vehicle communication system and/or anelement of a vehicle-to-infrastructure communication system or the like)is operable to detect objects that are present forward of the vehicleand outside of the forward field of view of the camera. Responsive todetection of the object by the at least one device being indicative ofthe object about to enter the forward field of view of the camera, theimage processor anticipates the object entering the forward field ofview of the camera and wherein, upon entering of the forward field ofview of the camera by the object, the image processor detects theobject.

Optionally, a vehicle interface processor may receive communication fromthe at least one device (such as via a serial data bus of the vehicle orthe like) and may receive tracking information from the image processor,whereby the vehicle interface processor may communicate hypothesisinformation to the image processor for accelerated object confirmation.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system and imagingsensors or cameras that provide exterior fields of view in accordancewith the present invention;

FIG. 2 is a schematic of the vision system of the present invention; and

FIG. 3 is a schematic plan view of a vehicle, showing the fields of viewof the cameras disposed at the front, rear and sides of the vehicle.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to detect objects forward of the vehicle for acollision avoidance feature or to assist a driver of the vehicle inmaneuvering the vehicle in a rearward direction. The vision systemincludes a processor that is operable to receive image data from one ormore cameras and may provide a displayed image.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system 12that includes a forward facing imaging sensor or camera 14 a at thefront (or at the windshield) of the vehicle (and that optionally mayinclude multiple exterior facing imaging sensors or cameras, such as arearward facing imaging sensor or camera 14 b, and sidewardly/rearwardlyfacing cameras 14 c, 14 d at respective sides of the vehicle), whichcaptures images exterior and forwardly of the vehicle, with the camera(or cameras) having a lens for focusing images at or onto an imagingarray or imaging plane of the camera (FIG. 1). The fields of view of themultiple cameras (such as can be seen with reference to FIG. 3) thus mayencompass the regions ahead of and rearward of and sideward of thevehicle, with overlapping regions at the corners of the vehicle, thusproviding a surround view vision system for the vehicle having 360degree sensing capability around the vehicle. The vision system 12includes a control or processor 18 that is operable to process imagedata captured by the camera and may provide displayed images at adisplay device 16 for viewing by the driver of the vehicle (althoughshown in FIG. 1 as being part of or incorporated in or at an interiorrearview mirror assembly 20 of the vehicle, the control and/or thedisplay device may be disposed elsewhere at or in the vehicle).Optionally, the vision system may process image data to detect objects,such as objects to the rear of the subject or equipped vehicle during areversing maneuver, or such as approaching or following vehicles orvehicles at a side lane adjacent to the subject or equipped vehicle orthe like.

As shown in FIG. 2, the automotive front facing camera system 12comprises an image processor 18 which processes image data captured by acamera that is representative of a scene 22 in front of the vehicle 10(and within the field of view of the forward facing camera). The imageprocessor 18 processes the captured image data to detect objects orvehicles present within the imaged scene 22, and reports tracks ofdetected objects or vehicles that are present within the imaged scene22. Optionally, and desirably, the reported tracks 26 may be filteredusing a hypothesis and confirmation approach, such as, for example, byusing a Kalman filter or the like.

Camera system 12 is in communication with devices or sensors 28, 29,such as through a serial data bus 30 or the like. These devices orsensors 28, 29 may comprise any suitable sensing and/or communicationmeans, such as, for example, an element of a vehicle-to-vehicle (v2v)communication system 28 (or a vehicle-to-infrastructure (v2x) or thelike) and/or a radar sensor 29 and/or the like. The sensor or v2vcommunication system 28 and the radar sensor 29 are configured toprovide information about vehicles 24 that are within an peripheral area22 a outside of scene 22 and outside of the field of view of the camera(including information pertaining to a direction of movement 24 a of anydetected vehicles in the peripheral scene).

In vehicle-to-vehicle (v2v) and vehicle-to-infrastructure telematicsystems, connected vehicles interact with each other (v2v), the roadside(v2i) and beyond (v2x) via wireless communications, such as, forexample, a 3G/4G Cellular communication, a Wi-Fi communication and a 5.9GHz Dedicated Short Range Communication (DSRC) or the like, to providethe likes of situation awareness, collision avoidance and post-crashassistance to drivers of vehicles on the road or to other people orservices or the like.

Information about a vehicle or vehicles or objects 24 present within theperipheral area 22 a is communicated to forward facing camera system 12through a vehicle interface processor or microprocessor 32. The vehicleinterface processor 32 is in communication with image processor 18, suchas via any suitable communication means, such as, for example, through aUART or SPI interface or other serial interface or the like. Toaccelerate confirmation of tracks 22, vehicle interface processor 32communicates hypothesis information 34 to image processor 18. Hypothesisinformation 34 is used to “prime” the filters in image processor 18 foraccelerated object confirmation. Hypothesis information 34 is derivedfrom information gleaned from v2v communication system 28 or radarsensor 29.

For example, the radar sensor may have a field of sensing and range thatencompasses a side and forward region ahead of the vehicle and that mayor may not encompass or overlap at least a portion of the forward fieldof view of the camera, and the system may, responsive to an output ofthe radar sensor, determine if an object or vehicle is present in theradar sensor's sensing area and if the detected object or vehicle mayenter the forward field of view of the forward facing camera. Similarly,a v2v communication system (or v2x communication system or the like) maycommunicate information about another vehicle that is outside of theforward field of view of the forward facing camera, particularly if thedirection of travel of the other vehicle is towards the predicted path(and thus approaching the forward field of view of the forward facingcamera) of the subject or host or equipped vehicle. The system mayreceive such information or communication from the radar and/or v2vsystem and/or other sensor or system, and the image processor mayconsider the information to provide enhanced or rapid confirmation of anobject or vehicle that enters the camera's forward field of view.

Thus, the system (using auxiliary sensors or radar sensors or v2vcommunications or the like) may operate to detect or determine that avehicle is present in a peripheral scene (outside of the field of viewof the forward facing camera) and may determine that the detectedvehicle is moving toward the field of view of the camera and may be anobject of interest to the vision system and/or the driver of thevehicle. Optionally, the system may utilize navigation data (such asderived from a navigation system or device of the vehicle), to furtheroptimize the performance of the system. The system may communicate suchinformation to the image processor so that the image processor, when itfirst detects an object at a side or perimeter region of the field ofview of the camera, may readily confirm that the detected object is theobject or vehicle that was previously detected by the other sensors. Thepresent invention thus provides enhanced confirmation of vehicles orobjects of interest that are present in the forward field of view of thecamera, based on an initial detection of the vehicles or objects beforethey enter the field of view of the camera. Although shown and describedas a imaging system with a forward facing camera, aspects of the presentinvention are applicable to imaging systems with a rearward facingcamera as well (such as a rear backup assist camera or the like).

Optionally, the vehicle imaging or vision system may utilize a recyclingbuffer or video recording device or storage device that may be operableto continuously store video captured by one or more cameras of thevehicle for a running loop of a predetermined amount of seconds orminutes (such as a continuous storing of video captured over theprevious 30 seconds or the like, while overwriting or over-storing videoover stored or recorded video from before the predetermined time period)while the vehicle is powered on. If the vehicle is involved in anaccident, the vision system and camera may receive a signal (such as viaa CAN or LIN bus of the vehicle) that would tell the camera or visionsystem to save video images that were captured over the last “x” seconds(such as at least about 10 seconds, more preferably at least about 20seconds, or more or less) and to continue to record and save videoimages for another “y” seconds (such as at least about 10 seconds, morepreferably at least about 20 seconds, or more or less).

The signal may be generated and communicated in response to any suitabletriggering event, such as responsive to an airbag of the vehicle beingdeployed, or responsive to an output of an accelerometer of the vehicle(that may be indicative of a crash or sudden stop of the vehicle) orresponsive to actuation of a user input by the driver, or responsive toany other triggering event or signal that may be indicative of acollision or accident detection. The system may also record (forexample, responsive to an airbag deployment) other data, such as, forexample, braking forces, steering wheel angle impact direction and/orthe like. The video storage (such as, for example, at least around 20seconds or thereabouts) thus may document accident circumstances inaddition to the other data. Having such video images captured may, ifevidence of the non-fault of the driver of the vehicle, help the driveravoid a ticket and points on their license, if involved in an accident.

Optionally, the video recording and storage function may operate as partof a vehicle security system, whereby video images may be captured andrecorded responsive to certain triggers that are indicative of asecurity situation. For example, if the vehicle security system istriggered, the video recording may be activated and about 30 seconds(for example) of video may be recorded (or more or less time ofrecording). Optionally, for example, the video recording may startrecording and storing video images responsive to a detection of a forcedentry (or entry without use of the key fob or the like).

Optionally, the stored recording may be accessed via any suitabledisplay device, such as via a smart phone or other technologies. Thus,if the vehicle is stolen, the owner of the vehicle may access the visionsystem remotely and determine how the vehicle was stolen. Such a systemmay also provide the option of accessing the video images in real timeto determine where the stolen vehicle is at that time. The recordedvideo images or data may also or otherwise be transmitted to a remotereceiver or device, such as a land based device. Optionally, when thevehicle security system is triggered, the vision system may communicatean alert or signal to the user's smart phone or other device to alertthe owner of the vehicle that the vehicle is being stolen or the like.

Such a vehicular camera and vision system that has a circular videobuffer and/or a wireless link to the outside world may have manyapplications, where a user can access the vision system remotely (suchas via a wireless communication or remote communication device) and maycause the system to begin capturing and storing video images and/or mayview images as they are captured by the vision system. Optionally, thesystem may utilize GPS-derived position data and time, whereby thecurrent geographical location of the vehicle may be communicated or thelast known vehicle location (such as the last known vehicle position insituations where the GPS system is deactivated or jammed otherwise notreceiving a signal) such that the vehicle, if stolen, can be tracked bythe user or owner or police or the like.

Optionally, for example, the vision system may provide a personalsecurity function to allow a user to access the vision system remotelyto view the area around the vehicle before approaching the vehicle. Forexample, a user may, using their smart phone or other remote device,activate a 360 degree camera system of the vehicle to view thesurroundings of a vehicle (and optionally to view the interior cabin ofthe vehicle, such as via a cabin monitoring camera of the vehicle)before entering a parking lot where the vehicle is parked. For example,when a user is going to their parked vehicle late at night (such as at ashopping mall or night club or the like), the user may first access thevision system to determine whether or not it appears safe to enter theparking lot and to approach their vehicle.

Optionally, the vision system may provide a personal recording function,such that the user may actuate a user input to capture video imagesand/or still photo images of scenery or the like. Such a “tourist”feature may allow a user that, for example, is driving thru themountains or along a coast line or any other scenic roadway or the like,to capture video of the drive or still photos of a specific scene or thelike. Optionally, the video may include date and time information and/orgeographical location information (such as responsive to a user input ora GPS system of the vehicle or navigation system of the vehicle or thelike.

Other vehicle sensors may also be triggers to actuate the recordingfunction, such as, for example, detection of a parking distancethreshold (so that video is recorded when the vehicle is moved within athreshold distance of an object or other vehicle or the like when beingparked), illumination and/or the like.

Optionally, in order to save on memory usage, the vision system mayadjust the number of frames that are captured per second when operatingin a post-accident recording mode or in a post-forced entry recordingmode or the like.

Optionally, and with respect to the technology of sign recognition,adaptive cruise control and the like, it is envisioned that thesetechnologies may be adapted to both driven and autonomous vehicles inindustrial plants (such as for delivery of components to a station alongan assembly line or the like).

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEYEQ2 or EYEQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, an array of a plurality of photosensorelements arranged in at least 640 columns and 480 rows (at least a640×480 imaging array), with a respective lens focusing images ontorespective portions of the array. The photosensor array may comprise aplurality of photosensor elements arranged in a photosensor array havingrows and columns. The logic and control circuit of the imaging sensormay function in any known manner, and the image processing andalgorithmic processing may comprise any suitable means for processingthe images and/or image data. For example, the vision system and/orprocessing and/or camera and/or circuitry may utilize aspects describedin U.S. Pat. Nos. 7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935;6,636,258; 7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229;7,301,466; 7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287;5,929,786 and/or 5,786,772, and/or PCT Application No.PCT/US2010/047256, filed Aug. 31, 2010 and published Mar. 10, 2011 asInternational Publication No. WO 2011/028686 and/or InternationalPublication No. WO 2010/099416, published Sep. 2, 2010, and/or PCTApplication No. PCT/US10/25545, filed Feb. 26, 2010 and published Sep.2, 2010 as International Publication No. WO 2010/099416, and/or PCTApplication No. PCT/US2012/048800, filed Jul. 30, 2012, and published onFeb. 7, 2013 as International Publication No. WO 2013/019707, and/or PCTApplication No. PCT/US2012/048110, filed Jul. 25, 2012, and published onJan. 31, 2013 as International Publication No. WO 2013/016409, and/orPCT Application No. PCT/CA2012/000378, filed Apr. 25, 2012, andpublished Nov. 1, 2012 as International Publication No. WO 2012/145822,and/or PCT Application No. PCT/US2012/056014, filed Sep. 19, 2012, andpublished Mar. 28, 2013 as International Publication No. WO 2013/043661,and/or PCT Application No. PCT/US12/57007, filed Sep. 25, 2012, andpublished Apr. 4, 2013 as International Publication No. WO 2013/048994,and/or PCT Application No. PCT/US2012/061548, filed Oct. 24, 2012, andpublished May 2, 2013 as International Publication No. WO 2013/063014,and/or PCT Application No. PCT/US2012/062906, filed Nov. 1, 2012, andpublished May 10, 2013 as International Publication No. WO 2013/067083,and/or PCT Application No. PCT/US2012/063520, filed Nov. 5, 2012, andpublished May 16, 2013 as International Publication No. WO 2013/070539,and/or PCT Application No. PCT/US2012/064980, filed Nov. 14, 2012, andpublished May 23, 2013 as International Publication No. WO 2013/074604,and/or PCT Application No. PCT/US2012/066570, filed Nov. 27, 2012, andpublished on Jun. 6, 2013 as International Publication No. WO2013/081984, and/or PCT Application No. PCT/US2012/066571, filed Nov.27, 2012, and published Jun. 6, 2013 as International Publication No. WO2013/081985, and/or PCT Application No. PCT/US2012/068331, filed Dec. 7,2012, and published Jun. 13, 2013 as International Publication No. WO2013/086249, and/or PCT Application No. PCT/US2013/022119, filed Jan.18, 2013, and published Jul. 25, 2013 as International Publication No.WO 2013/109869, and/or PCT Application No. PCT/US2013/027342, filed Feb.22, 2013, and published Aug. 29, 2013 as International Publication No.WO 2013/126715, and/or U.S. patent application Ser. No. 13/785,099,filed Mar. 5, 2013, now U.S. Pat. No. 9,565,342; Ser. No. 13/779,881,filed Feb. 28, 2013, now U.S. Pat. No. 8,694,224; Ser. No. 13/774,317,filed Feb. 22, 2013, now U.S. Pat. No. 9,269,263; Ser. No. 13/774,315,filed Feb. 22, 2013, and published on Aug. 22, 2013 as U.S. PatentPublication No. US-2013-0215271; Ser. No. 13/681,963, filed Nov. 20,2012, now U.S. Pat. No. 9,264,673; Ser. No. 13/660,306, filed Oct. 25,2012, now U.S. Pat. No. 9,146,898; Ser. No. 13/653,577, filed Oct. 17,2012, now U.S. Pat. No. 9,174,574; and/or Ser. No. 13/534,657, filedJun. 27, 2012, and published on Jan. 3, 2013 as U.S. Patent PublicationNo. US-2013-0002873, and/or U.S. provisional applications, Ser. No.61/733,598, filed Dec. 5, 2012; Ser. No. 61/733,093, filed Dec. 4, 2012;Ser. No. 61/710,924, filed Oct. 8, 2012; Ser. No. 61/696,416, filed Sep.4, 2012; Ser. No. 61/682,995, filed Aug. 14, 2012; Ser. No. 61/682,486,filed Aug. 13, 2012; Ser. No. 61/680,883, filed Aug. 8, 2012; Ser. No.61/678,375, filed Aug. 1, 2012; Ser. No. 61/676,405, filed Jul. 27,2012; Ser. No. 61/666,146, filed Jun. 29, 2012; Ser. No. 61/653,665,filed May 31, 2012; Ser. No. 61/653,664, filed May 31, 2012; Ser. No.61/648,744, filed May 18, 2012; Ser. No. 61/624,507, filed Apr. 16,2012; Ser. No. 61/616,126, filed Mar. 27, 2012; Ser. No. 61/613,651,filed Mar. 21, 2012, which are all hereby incorporated herein byreference in their entireties. The system may communicate with othercommunication systems via any suitable means, such as by utilizingaspects of the systems described in PCT Application No. PCT/US10/038477,filed Jun. 14, 2010, and/or U.S. patent application Ser. No. 13/202,005,filed Aug. 17, 2011, now U.S. Pat. No. 9,126,525, which are herebyincorporated herein by reference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,123,168;7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176; 6,313,454 and6,824,281, and/or International Publication No. WO 2010/099416,published Sep. 2, 2010, and/or PCT Application No. PCT/US10/47256, filedAug. 31, 2010 and published Mar. 10, 2011 as International PublicationNo. WO 2011/028686, and/or U.S. patent application Ser. No. 12/508,840,filed Jul. 24, 2009, and published Jan. 28, 2010 as U.S. Pat.Publication No. US 2010-0020170, and/or PCT Application No.PCT/US2012/048110, filed Jul. 25, 2012, and published on Jan. 31, 2013as International Publication No. WO 2013/016409, and/or U.S. patentapplication Ser. No. 13/534,657, filed Jun. 27, 2012, and published onJan. 3, 2013 as U.S. Patent Publication No. US-2013-0002873, which areall hereby incorporated herein by reference in their entireties. Thecamera or cameras may comprise any suitable cameras or imaging sensorsor camera modules, and may utilize aspects of the cameras or sensorsdescribed in U.S. patent application Ser. No. 12/091,359, filed Apr. 24,2008 and published Oct. 1, 2009 as U.S. Publication No. US-2009-0244361,and/or Ser. No. 13/260,400, filed Sep. 26, 2011, now U.S. Pat. Nos.8,542,451, and/or 7,965,336 and/or 7,480,149, which are herebyincorporated herein by reference in their entireties. The imaging arraysensor may comprise any suitable sensor, and may utilize various imagingsensors or imaging array sensors or cameras or the like, such as a CMOSimaging array sensor, a CCD sensor or other sensors or the like, such asthe types described in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962;5,715,093; 5,877,897; 6,922,292; 6,757,109; 6,717,610; 6,590,719;6,201,642; 6,498,620; 5,796,094; 6,097,023; 6,320,176; 6,559,435;6,831,261; 6,806,452; 6,396,397; 6,822,563; 6,946,978; 7,339,149;7,038,577; 7,004,606 and/or 7,720,580, and/or U.S. patent applicationSer. No. 10/534,632, filed May 11, 2005, now U.S. Pat. No. 7,965,336;and/or PCT Application No. PCT/US2008/076022, filed Sep. 11, 2008 andpublished Mar. 19, 2009 as International Publication No. WO 2009/036176,and/or PCT Application No. PCT/US2008/078700, filed Oct. 3, 2008 andpublished Apr. 9, 2009 as International Publication No. WO 2009/046268,which are all hereby incorporated herein by reference in theirentireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,720,580; 7,038,577; 5,929,786and/or 5,786,772, and/or U.S. patent application Ser. No. 11/239,980,filed Sep. 30, 2005, now U.S. Pat. No. 7,881,496, and/or U.S.provisional applications, Ser. No. 60/628,709, filed Nov. 17, 2004; Ser.No. 60/614,644, filed Sep. 30, 2004; Ser. No. 60/618,686, filed Oct. 14,2004; Ser. No. 60/638,687, filed Dec. 23, 2004, which are herebyincorporated herein by reference in their entireties, a video device forinternal cabin surveillance and/or video telephone function, such asdisclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or7,370,983, and/or U.S. patent application Ser. No. 10/538,724, filedJun. 13, 2005 and published Mar. 9, 2006 as U.S. Publication No.US-2006-0050018, which are hereby incorporated herein by reference intheir entireties, a traffic sign recognition system, a system fordetermining a distance to a leading or trailing vehicle or object, suchas a system utilizing the principles disclosed in U.S. Pat. Nos.6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. Nos. 7,255,451 and/or7,480,149; and/or U.S. patent application Ser. No. 11/226,628, filedSep. 14, 2005 and published Mar. 23, 2006 as U.S. Publication No.US-2006-0061008, and/or Ser. No. 12/578,732, filed Oct. 14, 2009, nowU.S. Pat. No. 9,487,144, which are hereby incorporated herein byreference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, which are hereby incorporated herein by reference in theirentireties. The video mirror display may comprise any suitable devicesand systems and optionally may utilize aspects of the compass displaysystems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341;7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305;5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727;5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851,and/or European patent application, published Oct. 11, 2000 underPublication No. EP 0 1043566, and/or U.S. patent application Ser. No.11/226,628, filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S.Publication No. US-2006-0061008, which are all hereby incorporatedherein by reference in their entireties. Optionally, the video mirrordisplay screen or device may be operable to display images captured by arearward viewing camera of the vehicle during a reversing maneuver ofthe vehicle (such as responsive to the vehicle gear actuator beingplaced in a reverse gear position or the like) to assist the driver inbacking up the vehicle, and optionally may be operable to display thecompass heading or directional heading character or icon when thevehicle is not undertaking a reversing maneuver, such as when thevehicle is being driven in a forward direction along a road (such as byutilizing aspects of the display system described in PCT Application No.PCT/US2011/056295, filed Oct. 14, 2011 and published Apr. 19, 2012 asInternational Publication No. WO 2012/051500, which is herebyincorporated herein by reference in its entirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in PCT Application No. PCT/US10/25545, filed Feb. 26, 2010 andpublished on Sep. 2, 2010 as International Publication No. WO2010/099416, and/or PCT Application No. PCT/US10/47256, filed Aug. 31,2010 and published Mar. 10, 2011 as International Publication No. WO2011/028686, and/or PCT Application No. PCT/US2011/062834, filed Dec. 1,2011 and published Jun. 7, 2012 as International Publication No. WO2012/075250, and/or PCT Application No. PCT/US2012/048993, filed Jul.31, 2012, and published on Feb. 7, 2013 as International Publication No.WO 2013/019795, and/or PCT Application No. PCT/US11/62755, filed Dec. 1,2011 and published Jun. 7, 2012 as International Publication No. WO2012-075250, and/or PCT Application No. PCT/CA2012/000378, filed Apr.25, 2012, and published on Nov. 1, 2012 as International Publication No.WO 2012/145822, and/or PCT Application No. PCT/US2012/066571, filed Nov.27, 2012, and published on Jun. 6, 2013 as International Publication No.WO 2013/081985, and/or PCT Application No. PCT/US2012/068331, filed Dec.7, 2012, and published Jun. 13, 2013 as International Publication No. WO2013/086249, and/or PCT Application No. PCT/US2013/022119, filed Jan.18, 2013, and published Jul. 25, 2013 as International Publication No.WO 2013/109869, and/or U.S. patent application Ser. No. 13/333,337,filed Dec. 21, 2011, now U.S. Pat. No. 9,264,672, which are herebyincorporated herein by reference in their entireties.

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. patent application Ser. No. 12/091,525, filedApr. 25, 2008, now U.S. Pat. No. 7,855,755; Ser. No. 11/226,628, filedSep. 14, 2005 and published Mar. 23, 2006 as U.S. Publication No.US-2006-0061008; and/or Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare all hereby incorporated herein by reference in their entireties. Thedisplay is viewable through the reflective element when the display isactivated to display information. The display element may be any type ofdisplay element, such as a vacuum fluorescent (VF) display element, alight emitting diode (LED) display element, such as an organic lightemitting diode (OLED) or an inorganic light emitting diode, anelectroluminescent (EL) display element, a liquid crystal display (LCD)element, a video screen display element or backlit thin film transistor(TFT) display element or the like, and may be operable to displayvarious information (as discrete characters, icons or the like, or in amulti-pixel manner) to the driver of the vehicle, such as passenger sideinflatable restraint (PSIR) information, tire pressure status, and/orthe like. The mirror assembly and/or display may utilize aspectsdescribed in U.S. Pat. Nos. 7,184,190; 7,255,451; 7,446,924 and/or7,338,177, which are all hereby incorporated herein by reference intheir entireties. The thicknesses and materials of the coatings on thesubstrates of the reflective element may be selected to provide adesired color or tint to the mirror reflective element, such as a bluecolored reflector, such as is known in the art and such as described inU.S. Pat. Nos. 5,910,854; 6,420,036 and/or 7,274,501, which are herebyincorporated herein by reference in their entireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and 6,124,886, and/or U.S.patent application Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare hereby incorporated herein by reference in their entireties.

Changes and modifications to the specifically described embodiments maybe carried out without departing from the principles of the presentinvention, which is intended to be limited only by the scope of theappended claims as interpreted according to the principles of patentlaw.

The invention claimed is:
 1. A vehicular vision system, said vehicularvision system comprising: a control disposed at a vehicle equipped withsaid vehicular vision system, said control comprising a data processor,said data processor comprising an image processing chip; a cameradisposed at an in-cabin side of a windshield of the equipped vehicle andhaving a field of view through the windshield and exterior and at leastforward of the equipped vehicle, wherein said camera comprises a CMOSimaging array sensor; wherein said camera is operable to capture imagedata; wherein image data captured by said camera is provided to saidcontrol, and wherein image data captured by said camera and provided tosaid control is processed at said control; a radar sensor disposed atthe equipped vehicle and having a field of sensing at least forward ofthe equipped vehicle; wherein the field of sensing of said radar sensoroverlaps a portion of the field of view of said camera; wherein, duringa driving maneuver of the equipped vehicle, said vehicular visionsystem, responsive at least in part to an output of said radar sensor,detects an object that is located within the field of sensing of saidradar sensor and outside of the field of view of said camera anddetermines movement of the detected object relative to the equippedvehicle; wherein, during the driving maneuver of the equipped vehicle,information derived at least in part from data captured by said radarsensor and pertaining to movement of the detected object toward an areawithin the field of view of said camera is provided to said control;wherein, during the driving maneuver of the equipped vehicle, andresponsive to the provided information, and with the detected objectpresent within the field of view of said camera, said vehicular visionsystem, at least in part via processing at said control of image datacaptured by said camera, determines that the detected object is anobject of interest; and wherein an output of said vehicular visionsystem is provided for a driving assist system of the equipped vehicle.2. The vehicular vision system of claim 1, wherein the field of view ofsaid camera is 52 degrees or less forward of the equipped vehicle. 3.The vehicular vision system of claim 1, wherein said vehicular visionsystem provides enhanced determination that the detected object is anobject of interest responsive to determination, based at least in parton the output of said radar sensor, that the detected object is likelyto enter the field of view of said camera.
 4. The vehicular visionsystem of claim 1, wherein the output of said radar sensor is providedto at least one selected from the group consisting of (i) avehicle-to-vehicle communication system and (ii) avehicle-to-infrastructure communication system.
 5. The vehicular visionsystem of claim 4, comprising a vehicle interface processor thatreceives the output of said radar sensor and receives an output of saiddata processor, and wherein said vehicle interface processorcommunicates hypothesis information to said data processor foraccelerated determination that the detected object is an object ofinterest.
 6. The vehicular vision system of claim 1, comprising avehicle interface processor that receives the output of said radarsensor and receives an output of said data processor.
 7. The vehicularvision system of claim 6, wherein said vehicle interface processorcommunicates hypothesis information to said data processor foraccelerated determination, via processing at said control of image datacaptured by said camera, that the detected object is an object ofinterest.
 8. The vehicular vision system of claim 1, wherein the drivingassist system of the equipped vehicle comprises an adaptive cruisecontrol system of the equipped vehicle.
 9. The vehicular vision systemof claim 1, wherein the driving assist system of the equipped vehiclecomprises an object detection system of the equipped vehicle.
 10. Thevehicular vision system of claim 1, wherein the driving assist system ofthe equipped vehicle comprises a headlamp control system of the equippedvehicle.
 11. A vehicular vision system, said vehicular vision systemcomprising: a control disposed at a vehicle equipped with said vehicularvision system, said control comprising a data processor, said dataprocessor comprising an image processing chip; a camera disposed at anin-cabin side of a windshield of the equipped vehicle and having a fieldof view through the windshield and exterior and at least forward of theequipped vehicle, wherein said camera comprises a CMOS imaging arraysensor; wherein said camera is operable to capture image data; whereinimage data captured by said camera is provided to said control, andwherein image data captured by said camera and provided to said controlis processed at said control; a radar sensor disposed at the equippedvehicle and having a field of sensing at least forward of the equippedvehicle; wherein the field of sensing of said radar sensor overlaps aportion of the field of view of said camera; wherein, during a drivingmaneuver of the equipped vehicle, said vehicular vision system,responsive at least in part to an output of said radar sensor, detectsan object that is located within the field of sensing of said radarsensor and outside of the field of view of said camera and determinesmovement of the detected object relative to the equipped vehicle;wherein, during the driving maneuver of the equipped vehicle,information derived at least in part from data captured by said radarsensor and pertaining to movement of the detected object toward an areawithin the field of view of said camera is provided to said control;wherein, during the driving maneuver of the equipped vehicle, andresponsive to the provided information, and with the detected objectpresent within the field of view of said camera, said vehicular visionsystem, at least in part via processing at said control of image datacaptured by said camera, determines that the detected object is anobject of interest; wherein said vehicular vision system providesenhanced determination that the detected object is an object of interestresponsive to determination, based at least in part on the output ofsaid radar sensor, that the detected object is likely to enter the fieldof view of said camera; and wherein an output of said vehicular visionsystem is provided for at least one driving assist system of theequipped vehicle, and wherein the at least one driving assist system ofthe equipped vehicle comprises an object detection system of theequipped vehicle.
 12. The vehicular vision system of claim 11, whereinthe output of said radar sensor is provided to at least one selectedfrom the group consisting of (i) a vehicle-to-vehicle communicationsystem and (ii) a vehicle-to-infrastructure communication system. 13.The vehicular vision system of claim 11, comprising a vehicle interfaceprocessor that receives the output of said radar sensor and receives anoutput of said data processor.
 14. The vehicular vision system of claim11, wherein the at least one driving assist system of the equippedvehicle comprises an adaptive cruise control system of the equippedvehicle.
 15. The vehicular vision system of claim 11, wherein the atleast one driving assist system of the equipped vehicle comprises aheadlamp control system of the equipped vehicle.
 16. A vehicular visionsystem, said vehicular vision system comprising: a control disposed at avehicle equipped with said vehicular vision system, said controlcomprising a data processor, said data processor comprising an imageprocessing chip; a camera disposed at an in-cabin side of a windshieldof the equipped vehicle and having a field of view through thewindshield and exterior and at least forward of the equipped vehicle;wherein said camera is operable to capture image data; wherein imagedata captured by said camera is provided to said control, and whereinimage data captured by said camera and provided to said control isprocessed at said control; a radar sensor disposed at the equippedvehicle and having a field of sensing at least forward of the equippedvehicle; wherein the field of sensing of said radar sensor overlaps aportion of the field of view of said camera; wherein, during a drivingmaneuver of the equipped vehicle, said vehicular vision system,responsive at least in part to an output of said radar sensor, detectsan object that is located within the field of sensing of said radarsensor and outside of the field of view of said camera and determinesmovement of the detected object relative to the equipped vehicle;wherein, during the driving maneuver of the equipped vehicle,information derived at least in part from data captured by said radarsensor and pertaining to movement of the detected object toward an areawithin the field of view of said camera is provided to said control;wherein, during the driving maneuver of the equipped vehicle, andresponsive to the provided information, and with the detected objectpresent within the field of view of said camera, said vehicular visionsystem, at least in part via processing at said control of image datacaptured by said camera, determines that the detected object is anobject of interest; and wherein an output of said vehicular visionsystem is provided for at least two driving assist systems of theequipped vehicle, and wherein the at least two driving assist systems ofthe equipped vehicle include an object detection system of the equippedvehicle.
 17. The vehicular vision system of claim 16, wherein the outputof said radar sensor is provided to at least one selected from the groupconsisting of (i) a vehicle-to-vehicle communication system and (ii) avehicle-to-infrastructure communication system.
 18. The vehicular visionsystem of claim 16, comprising a vehicle interface processor thatreceives the output of said radar sensor and receives an output of saiddata processor.
 19. The vehicular vision system of claim 16, wherein theat least two driving assist systems of the equipped vehicle include anadaptive cruise control system of the equipped vehicle.
 20. Thevehicular vision system of claim 16, wherein the at least two drivingassist systems of the equipped vehicle include a headlamp control systemof the equipped vehicle.